本文選題：智能車　切入點：軌跡規(guī)劃　出處：《中國機械工程》2014年02期

【摘要】：為了使智能車能夠順利地在大角度彎道上行駛,提出一種新的曲率連續(xù)的無碰軌跡規(guī)劃方法。該軌跡規(guī)劃方法基于β樣條曲線,利用β樣條曲線的凸多邊形屬性,考慮避碰約束、曲率約束、轉(zhuǎn)向速度約束以及狀態(tài)約束等非完整約束條件對運動軌跡規(guī)劃的影響,生成一條曲率連續(xù)的無碰行駛軌跡。實車試驗結果表明,提出的方法比傳統(tǒng)方法更加有效可行,規(guī)劃的軌跡曲率連續(xù),且能夠使得車輛順暢地進行循跡行駛。
[Abstract]:In order to make the intelligent vehicle run smoothly on the large angle curve, a new method of non-collision trajectory planning with continuous curvature is proposed. The trajectory planning method is based on the 尾 spline curve and uses the convex polygon attribute of the 尾 spline curve. Considering the influence of nonholonomic constraints, such as collision avoidance constraint, curvature constraint, steering speed constraint and state constraint, on motion trajectory planning, a continuous non-collision trajectory with curvature is generated. The proposed method is more effective and feasible than the traditional method, the trajectory curvature of the planning is continuous, and the vehicle can follow the track smoothly.
【作者單位】： 南京航空航天大學;山東交通學院;
【基金】：國家自然科學基金資助項目(50555135) 中國博士后科學基金資助項目(2011M500917) 江蘇省博士后科研資助計劃資助項目(1101153C)
【分類號】：U495;U463.6;TP391.7

【參考文獻】

相關期刊論文 前3條

1 毛征宇;劉中堅;;一種三次均勻B樣條曲線的軌跡規(guī)劃方法[J];中國機械工程;2010年21期

2 沈\，

本文編號：1655155